Abstract
A CPG based motion control approach is proposed for a biologically inspired underwater thruster with undulating long-fin. The characteristic of rhythmic motion patterns generated by CPG suits well to control the thruster, which has multiple fin rays coupled by membrane. Based on modified Matsuoka model, an artificial CPG controller consisting of ten neural oscillators with sensory information feedback is built. A novel method for phase control of the output signals is brought forward to make it possible to control and regulate the output of the coupled oscillators on-line. The experiment shows the CPG controller is valid to generate thrust by controlling the long fin.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
